JP2017154512A - Vehicle control device - Google Patents

Vehicle control device Download PDF

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JP2017154512A
JP2017154512A JP2016036559A JP2016036559A JP2017154512A JP 2017154512 A JP2017154512 A JP 2017154512A JP 2016036559 A JP2016036559 A JP 2016036559A JP 2016036559 A JP2016036559 A JP 2016036559A JP 2017154512 A JP2017154512 A JP 2017154512A
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vehicle
control
lateral
distance
height
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JP6623082B2 (en
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至貴 深澤
Noritaka Fukazawa
至貴 深澤
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Hitachi Astemo Ltd
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Hitachi Automotive Systems Ltd
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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Regulating Braking Force (AREA)
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Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device that enables recognition of a traffic light while reducing discomfort of a driver.SOLUTION: The vehicle control device for controlling a lateral directional position of an own vehicle includes: a detection part detecting a proceeding vehicle from the own vehicle and detecting or calculating a distance to the proceeding vehicle from the own vehicle and a height of the proceeding vehicle; a detection part detecting a traffic light and detecting or calculating a distance to the traffic light from the own vehicle and a height of the traffic light; and a control part conducting lateral directional position control based on the detection state.SELECTED DRAWING: Figure 6

Description

本発明は、走行時において、先行車と自車の運転・走行状態が所定の条件を満たすとき、自車の横方向制御を行うような車両制御装置に関する。   The present invention relates to a vehicle control device that performs lateral control of a host vehicle when the driving and driving states of a preceding vehicle and the host vehicle satisfy a predetermined condition during traveling.

近年、自車の前方に先行車が存在したとき、先行車が陰になって信号機を死角に入って認識できないことがないように車両を制御する技術が存在する。   In recent years, there is a technique for controlling a vehicle so that when a preceding vehicle is present in front of the host vehicle, the preceding vehicle is not shaded and a traffic light enters a blind spot and cannot be recognized.

特許文献１には、自車と信号機、自車と先行車の位置関係、先行車の高さから、信号機を認識できるように自車の速度を制御する技術について記載されている。   Patent Document 1 describes a technique for controlling the speed of the own vehicle so that the traffic signal can be recognized from the positional relationship between the own vehicle and the traffic signal, the own vehicle and the preceding vehicle, and the height of the preceding vehicle.

特開２００９−１２４５号公報JP 2009-1245 A

しかしながら、特許文献１の記載の技術では、先行車の高さが高い場合には信号機を認識するために、先行車が高ければ高いほど、先行車との車間距離を広くとることになり、運転者に違和感を与える。また、自車の後続車の運転者にも違和感を与えかねず、交通状況を乱してしまうおそれもある。   However, in the technique described in Patent Document 1, in order to recognize the traffic signal when the height of the preceding vehicle is high, the higher the preceding vehicle, the wider the distance between the preceding vehicle and the driving. Give the person a sense of incongruity In addition, the driver of the vehicle following the host vehicle may be uncomfortable and the traffic situation may be disturbed.

本発明の目的とするところは、運転者の違和感を軽減しつつ、信号機の認識を可能にする車両制御装置を提供することにある。   An object of the present invention is to provide a vehicle control device that can recognize a traffic light while reducing a driver's uncomfortable feeling.

本発明は、自車両の横方向位置を制御する車両制御装置において、自車の先行車を検出し、自車と先行車との距離、先行車の高さを検知または、算出する検知部と、信号機を検出し自車と信号機との距離、信号機の高さを検知または、算出する検知部と、前記検知状態に基づいて、横方向位置制御を行う制御部と、を有することを特徴とする。   The present invention provides a vehicle control device that controls the lateral position of the host vehicle, detecting a preceding vehicle of the host vehicle, and detecting or calculating a distance between the host vehicle and the preceding vehicle and a height of the preceding vehicle; A detection unit that detects or calculates a distance between the vehicle and the traffic signal and a height of the traffic signal, and a control unit that performs lateral position control based on the detection state. To do.

本発明によれば、運転者の違和感を軽減しつつ、信号機の認識を可能にする車両制御装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the vehicle control apparatus which enables recognition of a traffic signal can be provided, reducing a driver | operator's discomfort.

本発明の一実施形態による車両制御装置の車両構成図。The vehicle block diagram of the vehicle control apparatus by one Embodiment of this invention. 図１に示す車両制御装置の主要部を示す機能ブロック図。The functional block diagram which shows the principal part of the vehicle control apparatus shown in FIG. 本発明の一実施形態による車両制御装置の動作を示すフローチャートThe flowchart which shows operation | movement of the vehicle control apparatus by one Embodiment of this invention. 本発明の一実施形態による車両制御装置の横方向制御計算部における詳細な制御内容を示すフローチャートThe flowchart which shows the detailed control content in the horizontal direction control calculation part of the vehicle control apparatus by one Embodiment of this invention. 本発明の一実施形態による車両制御装置による動作態様の説明図Explanatory drawing of the operation | movement aspect by the vehicle control apparatus by one Embodiment of this invention. 本発明の一実施形態による車両制御装置による動作態様の説明図Explanatory drawing of the operation | movement aspect by the vehicle control apparatus by one Embodiment of this invention. 本発明の一実施形態による車両制御装置が使用する車両モデルの図The figure of the vehicle model which the vehicle control apparatus by one Embodiment of this invention uses 本発明の一実施形態による車両制御装置の制御の例を示したグラフThe graph which showed the example of control of the vehicle control device by one embodiment of the present invention

以下、本発明に係る車両制御装置の一実施形態を図面に基づき詳細に説明する。図１は、本実施形態に係る車両制御装置の一実施形態の車両構成図、図２は、図１に示す車両制御装置の主要部を示す機能ブロック図である。   Hereinafter, an embodiment of a vehicle control device according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a vehicle configuration diagram of an embodiment of a vehicle control device according to the present embodiment, and FIG. 2 is a functional block diagram showing a main part of the vehicle control device shown in FIG.

図１の車両の構成図において、図示例の車両１は、走行用動力源としての、例えば筒内噴射式ガソリンエンジン１１、該エンジン１１に接離可能な自動変速機１３、プロペラシャフト１５、ディファレンシャルギア１６、ドライブシャフト１７、４つの車輪１８及び車輪速センサを備えた液圧式ブレーキ２３、電動パワーステアリング２６を備えた一般的な構成の後輪駆動車である。   In the configuration diagram of the vehicle in FIG. 1, the illustrated vehicle 1 includes, for example, an in-cylinder injection gasoline engine 11 as a driving power source, an automatic transmission 13 that can contact and separate from the engine 11, a propeller shaft 15, and a differential. This is a rear wheel drive vehicle having a general configuration including a gear 16, a drive shaft 17, four wheels 18, a hydraulic brake 23 having a wheel speed sensor, and an electric power steering 26.

車両１には、これに搭載配備された装置、アクチュエータ、機器類の統合制御を司る、本発明の車両制御装置２０の主要部を構成する車両統合制御ユニット２８、エンジン制御を司るエンジン制御ユニット１２、変速機制御を司る変速機制御ユニット１４、電動パワーステアリングを司る電動パワーステアリング制御ユニット２７、ブレーキ制御を司るブレーキ制御ユニット２４、ナビ装置３４等の、マイクロコンピュータを内蔵した各制御ユニットが所定部位に配置されている。各制御ユニット及び後述するセンサ類を含む装置、アクチュエータ、機器類は、車内ＬＡＮやＣＡＮ通信を通じて信号・データの授受を行えるようになっている。   The vehicle 1 includes a vehicle integrated control unit 28 that constitutes a main part of the vehicle control device 20 according to the present invention that controls integrated control of devices, actuators, and devices mounted on the vehicle 1, and an engine control unit 12 that controls engine control. Each control unit with a built-in microcomputer, such as a transmission control unit 14 that controls transmission control, an electric power steering control unit 27 that controls electric power steering, a brake control unit 24 that controls brake control, and a navigation device 34, has predetermined parts. Is arranged. Devices, actuators, and devices including each control unit and sensors, which will be described later, can exchange signals and data through in-vehicle LAN and CAN communication.

車両１の前部には、ステレオカメラ１９が配備されている。このステレオカメラ１９は、検知部を構成するものであり、マイクロコンピュータを内蔵した制御ユニット部分を持っており、制御ユニット部分は、撮影された映像に基づいて、前方障害物の走行状態を検知する。具体的には前方障害物の高さ、前方障害物と自車との相対速度、前方障害物と自車との距離、前方障害物との重なり具合(以下ラップ率)、自車位置を基準としたときの前方障害物の横位置などを検知又は算出し、それを車両統合制御ユニット２８に供給する。   A stereo camera 19 is provided at the front of the vehicle 1. The stereo camera 19 constitutes a detection unit, and has a control unit part with a built-in microcomputer, and the control unit part detects the traveling state of the front obstacle based on the captured image. . Specifically, the height of the front obstacle, the relative speed between the front obstacle and the own vehicle, the distance between the front obstacle and the own vehicle, the degree of overlap with the front obstacle (hereinafter referred to as the lap rate), and the position of the own vehicle The horizontal position or the like of the forward obstacle is detected or calculated and supplied to the vehicle integrated control unit 28.

ナビ装置３４は、検知部を構成するものであり、逐次前方の信号機までの距離を算出し、信号機の高さ情報、信号機の横位置情報とともに車両統合制御ユニット２８に供給する。   The navigation device 34 constitutes a detection unit, sequentially calculates the distance to the traffic signal ahead, and supplies it to the vehicle integrated control unit 28 together with the traffic signal height information and the traffic signal lateral position information.

車両統合制御ユニット２８には、各車輪１８の回転速度を検出する４つの車輪速センサ２３、アクセルペダル２１の開度（踏込量）を検出するアクセルペダルセンサ２９(図示せず)、ブレーキペダル２２の踏込量を検出するブレーキセンサ３０(図示せず)、ステアリング２５の操舵角度を検出する操舵角センサ３１(図示せず)、自車の加速度を検出するジャイロセンサ３２(図示せず)等、方向指示器３３の押下信号、運転者の音声認識部３５からの判定信号も供給される。   The vehicle integrated control unit 28 includes four wheel speed sensors 23 that detect the rotational speed of each wheel 18, an accelerator pedal sensor 29 (not shown) that detects the opening (depression amount) of the accelerator pedal 21, and a brake pedal 22. A brake sensor 30 (not shown) for detecting the depression amount of the vehicle, a steering angle sensor 31 (not shown) for detecting the steering angle of the steering wheel 25, a gyro sensor 32 (not shown) for detecting the acceleration of the vehicle, etc. A pressing signal of the direction indicator 33 and a determination signal from the driver's voice recognition unit 35 are also supplied.

また、ブレーキペダル２２の踏込量は、前記ブレーキセンサ３０の他に、ブレーキ２３の制御系のブレーキ液圧を検出する液圧センサ（図示せず）によっても検出するようになっている。   Further, the depression amount of the brake pedal 22 is detected not only by the brake sensor 30 but also by a hydraulic pressure sensor (not shown) for detecting the brake hydraulic pressure in the control system of the brake 23.

なお、図示の車両１は、本発明を適用可能な車両の一例であり、本発明は適用可能な車両の構成を限定するものではない。例えば、前記自動変速機１３に代えて無段変速機（ＣＶＴ）を採用した車両でもよいし、外界認識センサとして、ステレオカメラ１９に代えてレーザーレーダーやミリ波レーダー、車車間通信（Ｃ２Ｃ）・インフラ間通信（Ｃ２Ｉ）等のＣ２Ｘ通信、モノカメラなどのうちの一つないし複数の組み合わせを用いて構成し、先行車の走行状態、すなわち先行車との相対速度、車間距離、高さ等を求めるようにしてもよい。またナビ装置に代えて、インフラ間通信（Ｃ２Ｉ）等のＣ２Ｘ通信を用いて、信号機までの距離、高さを取得するようにしてよい。   The illustrated vehicle 1 is an example of a vehicle to which the present invention can be applied, and the present invention does not limit the configuration of the applicable vehicle. For example, a vehicle that employs a continuously variable transmission (CVT) instead of the automatic transmission 13 may be used, or a laser radar, millimeter wave radar, inter-vehicle communication (C2C) It is configured using one or more combinations of C2X communication such as inter-infrastructure communication (C2I), mono camera, etc., and the running state of the preceding vehicle, that is, the relative speed with respect to the preceding vehicle, the inter-vehicle distance, the height, etc. You may make it ask. Further, instead of the navigation device, the distance to the traffic light and the height may be acquired using C2X communication such as inter-infrastructure communication (C2I).

以下、図３〜図８を用いて、本発明の一実施形態を説明する。
最初に、図３を用いて、本実施形態による車両制御装置に用いる車両統合制御ユニット２０における制御内容について説明する。
図３は、本発明の一実施形態によるステアリング制御装置に用いる車両統合制御ユニット２０における制御内容を示すフローチャートである。
最初に、ステップＳ１０において、車両統合制御ユニット２０は、図５、６で示すように、ステレオカメラ１９で検出した先行車両２の高さｈｐ、先行車両２の長さｌｐ、先行車両２の速度ｖｐ、先行車横位置ｔｐ、自車両１と先行車両２との車間距離ｄｐと、ナビ装置３４で検出された自車両１の位置から車両用信号機４までの距離ｄＳＩＧ、自車両１の横位置を基準としたときの歩行者用信号機３の横位置ｔＳＩＧ、車両用信号機３の高さｈＳＩＧ、を読み込む。 Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
First, the contents of control in the vehicle integrated control unit 20 used in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 3 is a flowchart showing the control contents in the vehicle integrated control unit 20 used in the steering control device according to the embodiment of the present invention.
First, in step S10, the vehicle integrated control unit 20 determines the height hp of the preceding vehicle 2, the length lp of the preceding vehicle 2, and the speed of the preceding vehicle 2 detected by the stereo camera 19, as shown in FIGS. vp, the preceding vehicle lateral position tp, the inter-vehicle distance dp between the host vehicle 1 and the preceding vehicle 2, the distance dSIG from the position of the host vehicle 1 to the traffic signal 4 detected by the navigation device 34, and the lateral position of the host vehicle 1 The lateral position tSIG of the pedestrian traffic light 3 and the height hSIG of the vehicle traffic light 3 are read.

次に、ステップＳ２０において、車輪速センサ２３は、ステップＳ１０で読み込んだ車輪回転数から自車両１の走行速度ｖｏを算出する。   Next, in step S20, the wheel speed sensor 23 calculates the traveling speed vo of the host vehicle 1 from the wheel rotation speed read in step S10.

次に、ステップＳ３０での処理を図５を用いて説明する。信号検知可能判断部５１は、ステップＳ１０で読み込んだ信号機までの距離ｄＳＩＧと車間距離ｄｐと先行車両の高さｈｐと自車両1に取り付いているカメラの地面からの高さｈａから、カメラで車両用信号機４の色を認識するために必要な高さｈＣＡＭを算出する。ここで、カメラで車両用信号機４の色を認識するために必要な高さｈＣＡＭは、以下の式（１）で求めることができる。ここで、ｔａｎφ＝ （ｈｐ−ｈａ）／ｄｐ）である。
ｈＣＡＭ＝ｄＳＩＧ・ｔａｎφ …（１）
次に、ステップＳ４０において、横方向制御計算部５２は、ステップＳ１０で読み込まれた情報や、ステップＳ２０、Ｓ３０で算出された情報に基づいて、標横移動量ｘ、目標移動時間ｔＳＴＯＰを算出する。目標横移動量ｘ、目標移動時間ｔＳＴＯＰの算出については図６を用いて、ステップＳ４０のフローチャートの説明の中で改めて述べる。 Next, the process in step S30 will be described with reference to FIG. The signal detectability determination unit 51 uses the camera to detect the vehicle distance dSIG, the inter-vehicle distance dp, the height hp of the preceding vehicle, and the height ha of the camera attached to the host vehicle 1 from the ground. The height hCAM necessary for recognizing the color of the traffic signal 4 is calculated. Here, the height hCAM necessary for recognizing the color of the vehicle traffic signal 4 by the camera can be obtained by the following equation (1). Here, tan φ = (hp−ha) / dp).
hCAM = dSIG · tanφ (1)
Next, in step S40, the lateral direction control calculation unit 52 calculates the lateral movement amount x and the target movement time tSTOP based on the information read in step S10 and the information calculated in steps S20 and S30. . The calculation of the target lateral movement amount x and the target movement time tSTOP will be described again in the description of the flowchart of step S40 with reference to FIG.

次に、ステップＳ５０において、指令値算出部５４は、ステップＳ４０での横方向の制御指示を達成するために、目標横位置を算出する。   Next, in step S50, the command value calculation unit 54 calculates a target lateral position in order to achieve the lateral control instruction in step S40.

次に、ステップＳ６０において、指令値算出部５４は、ステップＳ５０で設定された目標横位置になるように目標旋回量を算出する。   Next, in step S60, the command value calculation unit 54 calculates the target turning amount so as to be the target lateral position set in step S50.

次に、ステップＳ７０において、指令値算出部５４は、ステップＳ６０で設定された目標旋回量を達成するために、目標ステアトルクを算出し、ステアリング制御ユニット２７に指示する。   Next, in step S70, the command value calculation unit 54 calculates the target steer torque and instructs the steering control unit 27 to achieve the target turning amount set in step S60.

車両統合制御ユニット２０では、図２に示すこの一連の処理を規定の制御周期で反復して行う。   The vehicle integrated control unit 20 repeatedly performs this series of processes shown in FIG. 2 at a prescribed control cycle.

次に、図４を用いて、本実施形態による車両制御装置における横方向制御計算部５２による制御、すなわち、図３のステップＳ４０の制御の詳細な内容について説明する。図４は、本発明の一実施形態による車両制御装置における横方向制御計算部５２による制御の詳細な制御内容を示すフローチャートである。
まず、ステレオカメラ１９で自車両の前方に障害物がある場合、制御対象になりうる先行車両か判定する（ステップＳ４０１）。 Next, details of the control by the lateral control calculation unit 52 in the vehicle control apparatus according to the present embodiment, that is, the control in step S40 in FIG. 3 will be described with reference to FIG. FIG. 4 is a flowchart showing detailed control contents of the control by the lateral control calculation unit 52 in the vehicle control apparatus according to the embodiment of the present invention.
First, if there is an obstacle in front of the host vehicle with the stereo camera 19, it is determined whether the vehicle is a preceding vehicle that can be controlled (step S401).

もし、ステレオカメラ１９で先行車両２を検知しなければ（ステップＳ４０１：Ｎｏ）、横方向制御計算部５２は目標横移動量ｘをゼロとし、本実施形態による車両制御装置はステアリング制御をおこなわない（ステップＳ４０７）。   If the preceding vehicle 2 is not detected by the stereo camera 19 (step S401: No), the lateral control calculation unit 52 sets the target lateral movement amount x to zero, and the vehicle control device according to the present embodiment does not perform steering control. (Step S407).

ステレオカメラ１９で先行車両２を検知したら（ステップＳ４０１：Ｙｅｓ）、続いて車両用信号機４までの距離ｄＳＩＧがある規定値以下であるか判定する（ステップＳ４０２）。本例では、このある規定値を“カメラ認識装置が信号機を認識できる距離ｄＬＩＭ（以下、信号機認識限界距離）”と定義する。
もし、車両用信号機４までの距離ｄＳＩＧがこの信号機認識限界距離ｄＬＩＭより大きいなら（ステップＳ４０２：Ｎｏ）、横方向制御計算部５２は目標横移動量ｘをゼロとし、本実施形態による車両制御装置はステアリング制御をおこなわない（ステップＳ４０７）。 When the preceding vehicle 2 is detected by the stereo camera 19 (step S401: Yes), it is subsequently determined whether the distance dSIG to the vehicle traffic signal 4 is equal to or less than a specified value (step S402). In this example, this certain specified value is defined as “distance dLIM at which the camera recognition device can recognize a traffic light (hereinafter, traffic light recognition limit distance)”.
If the distance dSIG to the vehicle traffic signal 4 is greater than the traffic signal recognition limit distance dLIM (step S402: No), the lateral control calculation unit 52 sets the target lateral movement amount x to zero, and the vehicle control device according to the present embodiment. Does not perform steering control (step S407).

もし、ステップＳ４０２で車両用信号機４までの距離ｄＳＩＧが信号機認識限界距離ｄＬＩＭ以下なら（ステップＳ４０２：Ｙｅｓ）、横方向制御計算部５２で、このステレオカメラ１９で車両用信号機４の色を認識できる高さｈＣＡＭと、車両用信号機４の高さｈＳＩＧから自車両１の高さｈａを減算した値を比較する（ステップＳ４０３）。   If the distance dSIG to the vehicle traffic signal 4 is equal to or less than the traffic signal recognition limit distance dLIM in step S402 (step S402: Yes), the lateral control calculation unit 52 can recognize the color of the vehicle traffic signal 4 with the stereo camera 19. The height hCAM is compared with a value obtained by subtracting the height ha of the host vehicle 1 from the height hSIG of the vehicle traffic light 4 (step S403).

ｈＣＡＭは図５に示すように、自車両１、先行車両２、車両用信号機の位置関係から求められる、自車両１の搭載されたステレオカメラ１９から車両用信号機４の色を認識するのに必要な車両用信号機４の高さである。   As shown in FIG. 5, hCAM is necessary for recognizing the color of the vehicle traffic light 4 from the stereo camera 19 on which the vehicle 1 is mounted, which is obtained from the positional relationship of the host vehicle 1, the preceding vehicle 2, and the vehicle traffic signal. This is the height of the vehicle traffic signal 4.

ｈＣＡＭの値が車両用信号機４の高さｈｃから自車両１の高さｈａを減算した値以下なら（ステップＳ４０３：Ｙｅｓ）、横方向制御計算部５２はステレオカメラ１９が車両用信号機４の色を認識できない状況にあると判定し、横方向制御計算部５２は目標横移動量ｘと目標移動時間ｔＳＴＯＰを計算し（ステップＳ４０４）、目標横移動量ｘと目標移動時間ｔＳＴＯＰを算出する。算出方法については図６を用いて説明する。   If the value of hCAM is equal to or less than the value obtained by subtracting the height ha of the host vehicle 1 from the height hc of the vehicle traffic signal 4 (step S403: Yes), the lateral direction control calculation unit 52 indicates that the stereo camera 19 is the color of the vehicle traffic signal 4 The lateral direction control calculation unit 52 calculates the target lateral movement amount x and the target movement time tSTOP (step S404), and calculates the target lateral movement amount x and the target movement time tSTOP. The calculation method will be described with reference to FIG.

ｈＣＡＭの値が車両用信号機４の高さｈｃから自車両１の高さｈａを減算した値より大きいなら（ステップＳ４０３：Ｎｏ）、横方向制御計算部５２は目標横移動量ｘをゼロとし、本実施形態による車両制御装置はステアリング制御をおこなわない（ステップＳ４０７）。   If the value of hCAM is larger than the value obtained by subtracting the height ha of the host vehicle 1 from the height hc of the vehicle traffic signal 4 (step S403: No), the lateral control calculation unit 52 sets the target lateral movement amount x to zero, The vehicle control apparatus according to the present embodiment does not perform steering control (step S407).

ステップＳ４０５、ステップＳ４０６において、横方向への制御のキャンセル判定を行う。ステップＳ４０５においては、目標横移動量ｘが最大左横移動量ｘＬＩＭＬ以上あるいは、目標横移動量ｘが最大右横移動量ｘＬＩＭＲ以下のとき（ステップＳ４０５：Ｎｏ）、目標横移動量ｘをゼロとし、横方向制御をキャンセルする（ステップＳ４０７）。ｘＬＩＭＬ、ｘＬＩＭＲは道路幅、自車両の走行可能領域に応じて算出される。   In step S405 and step S406, the control cancellation determination in the horizontal direction is performed. In step S405, when the target lateral movement amount x is not less than the maximum left lateral movement amount xLIML or the target lateral movement amount x is not more than the maximum right lateral movement amount xLIMR (step S405: No), the target lateral movement amount x is set to zero. Then, the lateral control is canceled (step S407). xLIML and xLIMR are calculated according to the road width and the travelable area of the host vehicle.

目標横移動量ｘが最大左横移動量ｘＬＩＭＬより小さいあるいは、目標横移動量ｘが最大右横移動量ｘＬＩＭＲより大きいときステップＳ４０５：Ｙｅｓ）、ステップＳ４０６に移行する。   When the target lateral movement amount x is smaller than the maximum left lateral movement amount xLIML or when the target lateral movement amount x is larger than the maximum right lateral movement amount xLIMR (step S405: Yes), the process proceeds to step S406.

ステップＳ４０６においては、自車両１のヨーレートθ’がある所定値ＹａｗＬＩＭ以上の場合（ステップＳ４０６：Ｎｏ）、目標横移動量ｘをゼロとし、横方向制御をキャンセルする（ステップＳ４０７）。   In step S406, if the yaw rate θ 'of the host vehicle 1 is greater than or equal to a predetermined value YawLIM (step S406: No), the target lateral movement amount x is set to zero and the lateral control is canceled (step S407).

自車両１のヨーレートθ’がある所定値ＹａｗＬＩＭより小さい場合（ステップＳ４０６：Ｙｅｓ）、ステップＳ４０４で算出された目標横移動量ｘと目標移動時間ｔＳＴＯＰを指令値算出部５３に出力する（ステップＳ４０８）。図４で示すフローチャートの解説は以上である。   When the yaw rate θ ′ of the host vehicle 1 is smaller than the predetermined value YawLIM (step S406: Yes), the target lateral movement amount x and the target movement time tSTOP calculated in step S404 are output to the command value calculation unit 53 (step S408). ). The explanation of the flowchart shown in FIG.

ステップＳ４０４で算出する目標横移動量ｘと目標移動時間ｔＳＴＯＰの算出方法を図６を用いて説明する。目標横移動量ｘとは、歩行者用信号３をステレオカメラ１９で認識するために必要な、横方向の移動量である。目標横移動量ｘは自車両１と歩行者用信号機３との距離ｄＳＩＧ、自車両１と先行車両２との車間距離ｄｐ、自車両横位置を基準としたときの歩行者用信号機３の横位置ｔＳＩＧ、先行車両２の横位置ｔｐ、先行車両の幅ｗｐを用いて、
ｘ＝ｔＳＩＧ−ｓ・ＩＧ／（ｄＳＩＧ−ｄｐ）
ただし、
ｓ＝ｔＳＩＧ−ｔｐ−ｗｐ／２
とする。
ｘの正の方向を、自車両１の進行方向に対して、左向きの横移動量とする。 A method for calculating the target lateral movement amount x and the target movement time tSTOP calculated in step S404 will be described with reference to FIG. The target lateral movement amount x is a lateral movement amount necessary for recognizing the pedestrian signal 3 by the stereo camera 19. The target lateral movement amount x is the distance dSIG between the host vehicle 1 and the pedestrian traffic light 3, the inter-vehicle distance dp between the host vehicle 1 and the preceding vehicle 2, and the side of the pedestrian traffic signal 3 when the lateral position of the host vehicle is used as a reference. Using the position tSIG, the lateral position tp of the preceding vehicle 2, and the width wp of the preceding vehicle,
x = tSIG−s · IG / (dSIG−dp)
However,
s = tSIG-tp-wp / 2
And
A positive direction of x is a lateral movement amount leftward with respect to the traveling direction of the host vehicle 1.

目標移動時間ｔＳＴＯＰとは先行車両２が前方の車両用信号機３の存在する交差点に到達するまでの時間である。つまり、歩行者用信号機４を自車両１が認識するためには、目標移動時間ｔＳＴＯＰの間に自車両１が目標横移動量ｘまで横方向移動する必要がある。先行車両２と歩行者用信号機３との距離は、自車両１と歩行者用信号機３との距離ｄＳＩＧ、自車両１と先行車両２との車間距離ｄｐ、先行車両２の長さｌｐを用いて、ｄＳＩＧ−ｌｐ−ｄｐと計算できるので、目標移動時間ｔＳＴＯＰは先行車両２の速度ｖｐを用いて、
ｔＳＴＯＰ＝（ｄＳＩＧ−ｌｐ−ｄｐ）／ｖｐ
となる。 The target travel time tSTOP is the time until the preceding vehicle 2 reaches the intersection where the preceding vehicle traffic signal 3 exists. That is, in order for the own vehicle 1 to recognize the pedestrian traffic light 4, it is necessary for the own vehicle 1 to move laterally to the target lateral movement amount x during the target movement time tSTOP. The distance between the preceding vehicle 2 and the pedestrian traffic light 3 uses the distance dSIG between the own vehicle 1 and the pedestrian traffic light 3, the inter-vehicle distance dp between the own vehicle 1 and the preceding vehicle 2, and the length lp of the preceding vehicle 2. Since dSIG-lp-dp can be calculated, the target travel time tSTOP is calculated using the speed vp of the preceding vehicle 2,
tSTOP = (dSIG-lp-dp) / vp
It becomes.

ステップＳ４０６においてヨーレートによるキャンセル条件が存在するのは、横方向制御により大きなヨーレートが発生し、ドライバーに危険を感じさせないためである。ヨーレートθ’は舵角θの時間についての微分と仮定し、自車両１の速度ｖｏを用いて、以下の式で表せる。
θ’＝ｄ／ｄｔ（ｖｏｍ／ｖｏ）
舵角θは図７に示す角度であり、またｖｏｍは自車両速度ｖｏの車軸方向の速度成分である。 The reason for the cancellation condition based on the yaw rate in step S406 is that a large yaw rate is generated by the lateral control and the driver does not feel danger. The yaw rate θ ′ is assumed to be a derivative with respect to time of the steering angle θ, and can be expressed by the following equation using the speed vo of the host vehicle 1.
θ ′ = d / dt (vom / vo)
The steering angle θ is the angle shown in FIG. 7, and vom is the speed component in the axle direction of the host vehicle speed vo.

以上をまとめると、本実施形態による車両制御装置は、図８のように目標移動時間ｔＳＴＯＰまでに目標横移動量ｘだけ自車両１に横方向制御を行い、横方向に移動する速度はｘ／ｔＳＴＯＰとなる。ただし、目標横移動量ｘが最大左横移動量ｘＬＩＭＬ、最大右横移動量ｘＬＩＭＲに収まらない場合は横方向制御をおこなわない。また、車両に発生するヨーレートが所定値ＹａｗＬＩＭを超えるような場合、つまり横方向移動速度ｘ／ｔＳＴＯＰが大きくなる場合には横方向制御をおこなわない。なお、図８中の一点鎖線で示したように横方向移動速度ｘ／ｔＳＴＯＰは横方向制御中に一定でなくてもよい。例えば、運転者の音声認識装置３５に向かって、立ち上がりを速く、あるいは立ち上がりを遅く、といった発声し横方向制御で生じるヨーレートの立ち上がりを速くしたり、あるいは遅くしたりするようにしてもよい。またドライバーのステアリング操作によって、ドライバーの意図をくみ取り、横方向制御で生じるヨーレートの立ち上がりを速くしたり、あるいは遅くしたりするようにしてもよい。   In summary, the vehicle control apparatus according to the present embodiment performs lateral control on the host vehicle 1 by the target lateral movement amount x by the target movement time tSTOP as shown in FIG. tSTOP. However, when the target lateral movement amount x does not fall within the maximum left lateral movement amount xLIML and the maximum right lateral movement amount xLIMR, the lateral direction control is not performed. Further, when the yaw rate generated in the vehicle exceeds the predetermined value YawLIM, that is, when the lateral movement speed x / tSTOP increases, the lateral control is not performed. Note that, as indicated by the alternate long and short dash line in FIG. 8, the lateral movement speed x / tSTOP does not have to be constant during the lateral control. For example, the rising of the yaw rate generated by the lateral control may be made faster or slower by uttering toward the driver's voice recognition device 35 and making the rising faster or slower. Further, the driver's steering operation may be used to grasp the driver's intention, and the yaw rate rise caused by the lateral control may be made faster or slower.

以上のとおり、本実施例の車両制御装置では、計算部で自車で信号機を認識するために必要な横移動量を計算し、前記横移動量と自車横位置に基づいて横位置制御する。具体的には、先行車の幅、先行車の横位置、信号機の横位置、自車と先行車との距離、自車と信号機との距離に基づいて、自車を信号機が認識可能な位置に移動させる制御ができる。このように、本実施形態では運転者の意図に基づいた横方向制御ができるため、交通状況で生じる運転者の違和感なく、信号機を認識する走行制御を達成することができる。   As described above, in the vehicle control device according to the present embodiment, the calculation unit calculates the lateral movement amount necessary for recognizing the traffic light by the own vehicle, and performs lateral position control based on the lateral movement amount and the own vehicle lateral position. . Specifically, based on the width of the preceding vehicle, the lateral position of the preceding vehicle, the lateral position of the traffic signal, the distance between the host vehicle and the preceding vehicle, and the distance between the host vehicle and the traffic signal, the position where the traffic signal can be recognized by the traffic signal Control to move to. As described above, in the present embodiment, lateral control based on the driver's intention can be performed, so that traveling control for recognizing a traffic light can be achieved without a driver's uncomfortable feeling caused by traffic conditions.

１１ エンジン
１２ エンジン制御ユニット
１３ 変速機
１４ 変速機制御ユニット
１５ プロペラシャフト
１６ ディファレンシャルギア
１７ ドライブシャフト
１８ 車輪
１９ ステレオカメラ
２０ 車両統合制御ユニット
２１ アクセルペダル
２２ ブレーキペダル
２３ 液圧式ブレーキ
２４ ブレーキ制御ユニット
２５ ステアリング
２６ 電動パワーステアリング
２７ 電動パワーステアリング制御ユニット
２８ 車両統合制御ユニット
２９ アクセルペダルセンサ
３０ ブレーキセンサ
３１ 操舵角センサ
３２ ジャイロセンサ
３３ 方向指示器
３４ ナビ装置
３５ 音声認識装置
５１ 信号検知可能判断部
５２ 横方向制御計算部
５３ 指令値算出部 DESCRIPTION OF SYMBOLS 11 Engine 12 Engine control unit 13 Transmission 14 Transmission control unit 15 Propeller shaft 16 Differential gear 17 Drive shaft 18 Wheel 19 Stereo camera 20 Vehicle integrated control unit 21 Accelerator pedal 22 Brake pedal 23 Hydraulic brake 24 Brake control unit 25 Steering 26 Electric Power Steering 27 Electric Power Steering Control Unit 28 Vehicle Integrated Control Unit 29 Accelerator Pedal Sensor 30 Brake Sensor 31 Steering Angle Sensor 32 Gyro Sensor 33 Direction Indicator 34 Navigation Device 35 Voice Recognition Device 51 Signal Detectable Determination Unit 52 Lateral Direction Control Calculation Part 53 Command value calculation part

Claims (1)

自車両の横方向位置を制御する車両制御装置において、
自車の先行車を検出し、自車と先行車との距離、先行車の高さを検知または、算出する検知部と、
信号機を検出し自車と信号機との距離、信号機の高さを検知または、算出する検知部と、
前記検知状態に基づいて、横方向位置制御を行う制御部と、
を有することを特徴とする車両制御装置。 In the vehicle control device that controls the lateral position of the host vehicle,
A detection unit that detects a preceding vehicle of the own vehicle and detects or calculates a distance between the own vehicle and the preceding vehicle and a height of the preceding vehicle;
A detection unit that detects a traffic light and detects or calculates the distance between the vehicle and the traffic signal, the height of the traffic light, and
A control unit that performs lateral position control based on the detection state;
A vehicle control device comprising:
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